import os
from ament_index_python.packages import get_package_share_directory
from launch import LaunchDescription
from launch.actions import IncludeLaunchDescription
from launch.launch_description_sources import PythonLaunchDescriptionSource
from launch_ros.actions import Node

def generate_launch_description():

    slam_toolbox_setup = Node(
        package="slam_toolbox",
        executable="async_slam_toolbox_node",
        output="log",
        parameters=[
            {"use_sim_time": False},
            "/home/fwy/nav_ws/src/fishbot_navigation2/param/t.yaml",
        ]
    )
    return LaunchDescription([
        slam_toolbox_setup,    
    ])